Vision-based Aided-Grasping in Teleoperation with Multiple Unknown Objects

Kim, Yunjoo; Kim, Woojong; Hong, Seongwoong; Kyeong, Seulki; Feng, Jirou; Kim, Jung

doi:10.1145/3371382.3378321

Cited by 2 publications

(1 citation statement)

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“…For a UAV manipulation task, it is important that a Mission Specialist can view both the manipulator and the manipulator's workspace. The close-up, first-person view of the manipulator and surrounding environment can be achieved with an "eye-in-hand" camera on the end-effector [44]. For telemanipulation, however, thirdperson views can also enhance task performance [45], as it has been shown that exocentric views optimize overall awareness and recognition while the immediate environment is better viewed egocentrically [26,46].…”

Section: Methodsmentioning

confidence: 99%

The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs

Young

Lanciloti

Peschel

2021

Int J of Soc Robotics

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This paper presents a human-robot interaction (HRI) study of a dedicated Mission Specialist interface for performing telemanipulation tasks using a small unpiloted aerial vehicle (UAV). Current literature suggests that the successful completion of aerial manipulation tasks in real-world environments requires human input due to challenges in autonomous perception and control. Visual information of the remote environment in a telemanipulation interface can significantly affect performance under direct control; however, the effects of interface visualizations on task performance have not been studied for UAV telemanipulation. This work evaluated the effects of interface viewpoint on aerial manipulation task performance. The interface evaluated in this study included video streams from cameras located onboard the UAV, including: i) a manipulator egocentric view, ii) a manipulator exocentric view, and iii) a combination of egocentric and exocentric views. A total of 36 participants completed three different manipulation tasks using all three interface conditions. The observations and results showed that both the exocentric and mixed configurations contributed to improved task performance over an egocentric-

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